КФУ. Карточка публикации. Kinematic and dynamic approaches in gait optimization for humanoid robot locomotion

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KINEMATIC AND DYNAMIC APPROACHES IN GAIT OPTIMIZATION FOR HUMANOID ROBOT LOCOMOTION

Форма представления

Статьи в зарубежных журналах и сборниках

Год публикации

2018

Язык

английский

Авторы, сотрудники КФУ

Магид Евгений Аркадьевич, автор

Библиографическое описание на языке оригинала

Khusainov R. Kinematic and Dynamic Approaches in Gait Optimization for Humanoid Robot Locomotion / Klimchik, A., Magid, E. // Lecture Notes in Electrical Engineering. - 2018. - № 430. - p. 293-320.

Аннотация

Humanoid robot related research keeps attracting many researchers nowadays because of a high potential of bipedal locomotion. While many researchers concentrate on a robot body movement due to its direct contribution to the robot dynamics, the optimality of a leg trajectory has not been studied in details yet. Our paper is targeted to decrease this obvious gap and deals with optimal trajectory planning for bipedal humanoid robot walking. The main attention is paid to maximization of locomotion speed while considering velocity, acceleration and power limitations of each joint. The kinematic and dynamic approaches are used to obtain a desired optimal trajectory. Obtained results provide higher robot performance comparing to commonly used trajectories for control bipedal robots.

Ключевые слова

Bipedal walking, Humanoids, Optimal trajectory planning

Название журнала

Lecture Notes in Electrical Engineering

URL

https://link.springer.com/chapter/10.1007/978-3-319-55011-4_15

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https://repository.kpfu.ru/?p_id=170758

Файлы ресурса

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2018_Kinematic_and_dynamic_approaches_in_gait_optimization_for_humanoid_robot_locomotion.pdf	1,15	pdf	посмотреть / скачать

Полная запись метаданных

Поле DC	Значение	Язык
dc.contributor.author	Магид Евгений Аркадьевич	ru_RU
dc.date.accessioned	2018-01-01T00:00:00Z	ru_RU
dc.date.available	2018-01-01T00:00:00Z	ru_RU
dc.date.issued	2018	ru_RU
dc.identifier.citation	Khusainov R. Kinematic and Dynamic Approaches in Gait Optimization for Humanoid Robot Locomotion / Klimchik, A., Magid, E. // Lecture Notes in Electrical Engineering. - 2018. - № 430. - p. 293-320.	ru_RU
dc.identifier.uri	https://repository.kpfu.ru/?p_id=170758	ru_RU
dc.description.abstract	Lecture Notes in Electrical Engineering	ru_RU
dc.description.abstract	Humanoid robot related research keeps attracting many researchers nowadays because of a high potential of bipedal locomotion. While many researchers concentrate on a robot body movement due to its direct contribution to the robot dynamics, the optimality of a leg trajectory has not been studied in details yet. Our paper is targeted to decrease this obvious gap and deals with optimal trajectory planning for bipedal humanoid robot walking. The main attention is paid to maximization of locomotion speed while considering velocity, acceleration and power limitations of each joint. The kinematic and dynamic approaches are used to obtain a desired optimal trajectory. Obtained results provide higher robot performance comparing to commonly used trajectories for control bipedal robots.	ru_RU
dc.language.iso	ru	ru_RU
dc.subject	Bipedal walking	ru_RU
dc.subject	Humanoids	ru_RU
dc.subject	Optimal trajectory planning	ru_RU
dc.title	Kinematic and dynamic approaches in gait optimization for humanoid robot locomotion	ru_RU
dc.type	Статьи в зарубежных журналах и сборниках	ru_RU